version: 66.12
revision: CLOWNFISH
glider: 512
mission: 9
dive: 14
start: 7 15 118 0 30 40
data:
$ID,512
$MISSION,9
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,950
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,600
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52952
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2000
$TGT_DEFAULT_LON,-15430
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,184
$PITCH_MAX,3927
$C_PITCH,2850
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,28
$PITCH_TIMEOUT,22
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,255
$ROLL_MAX,3932
$ROLL_DEG,40
$C_ROLL_DIVE,2020
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2740
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-63.57946
$PRESSURE_SLOPE,0.000116527
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,1.14
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,69
$DEVICE4,35
$DEVICE5,54
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042943917
$SEABIRD_T_H,0.00062894222
$SEABIRD_T_I,2.3572227e-05
$SEABIRD_T_J,2.4870369e-06
$SEABIRD_C_G,-9.7596245
$SEABIRD_C_H,1.0842633
$SEABIRD_C_I,-0.0017886258
$SEABIRD_C_J,0.00018584721
$GPS1,150718,002301,1919.5079,-15441.2061,16,0.8,39,9.6,0.7,60.2,11,5.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.75
$_SM_ANGLEo,-72.2
$GPS2,150718,003016,1919.5059,-15441.1641,7,0.8,18,9.6,1.4,252.4,11,10.0
$SPEED_LIMITS,0.174,0.252
$TGT_NAME,H2
$TGT_LATLONG,1900.000,-15424.000
$TGT_RADIUS,900.000
$MHEAD_RNG_PITCHd_Wd,141.9,46994,-19.0,-10.040,-21.70,2079
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.85,-136.3,192,2048,1091,1196,0.0,0.0,0,98,0.00,0.00,-81.18,0.000,16390,0.000,0.000,191,2050,3296,3280,3312,0,0,0,0,0,0,26.14,24.12,26.15
$GC,101,-0.85,-136.3,192,2048,3280,3313,-0.8,-4.7,9,121,10.52,2.25,0.00,0.000,2564,0.256,0.034,2578,605,3297,3282,3313,0,0,0,0,0,0,25.31,25.65,25.51
$GC,198,-0.85,-136.3,2577,605,3285,3312,28.4,-24.4,22,209,0.00,2.15,0.00,0.000,3078,0.000,0.028,2569,2000,3298,3286,3310,0,0,0,0,0,0,25.94,25.90,25.96
$GC,451,-0.85,-136.3,2569,2004,3289,3309,74.4,-15.6,47,462,0.00,2.17,0.00,0.000,2308,0.000,0.041,2558,3409,3299,3289,3309,0,0,0,0,0,0,26.48,25.91,26.49
$GC,586,-0.85,-136.3,2558,3409,3290,3308,99.8,-19.6,58,602,0.00,2.12,0.00,0.000,3078,0.000,0.029,2563,2004,3299,3291,3308,0,0,0,0,0,0,26.15,26.03,26.17
$GC,843,-0.85,-136.3,2563,2002,3293,3308,145.3,-16.0,83,852,0.00,2.12,0.00,0.000,2564,0.000,0.044,2574,617,3300,3293,3308,0,0,0,0,0,0,26.61,25.97,26.61
$GC,912,-0.85,-136.3,2573,617,3293,3308,156.9,-16.8,89,921,0.00,2.12,0.00,0.000,3078,0.000,0.028,2565,2018,3300,3293,3308,0,0,0,0,0,0,26.20,26.16,26.21
$GC,1160,-0.85,-136.3,2565,2020,3296,3308,192.8,-12.0,114,1162,0.00,0.00,0.00,0.000,2054,0.000,0.000,2565,2020,3302,3296,3309,0,0,0,0,0,0,26.73,26.74,26.73
$GC,1431,-0.85,-136.3,2564,2020,3296,3308,225.6,-12.3,126,1438,0.00,2.17,0.00,0.000,2564,0.000,0.044,2569,618,3302,3296,3308,0,0,0,0,0,0,26.73,26.03,26.73
$GC,1734,-0.85,-136.3,2569,618,3296,3308,256.9,-11.0,133,1739,0.05,2.08,0.00,0.000,3078,0.212,0.029,2573,2020,3302,3297,3308,0,0,0,0,0,0,26.08,26.26,26.15
$GC,1993,-0.85,-136.3,2572,2023,3296,3307,285.4,-10.0,140,1998,0.00,2.15,0.00,0.000,2308,0.000,0.044,2564,3413,3302,3296,3308,0,0,0,0,0,0,26.82,26.10,26.82
$GC,2156,-0.85,-136.3,2563,3413,3295,3308,301.4,-10.0,144,2160,0.00,2.12,0.00,0.000,3078,0.000,0.029,2564,2024,3301,3295,3308,0,0,0,0,0,0,26.28,26.22,26.32
$GC,2434,-0.85,-136.3,2563,2024,3293,3308,329.4,-10.0,151,2441,0.00,2.20,0.00,0.000,2308,0.000,0.047,2554,3419,3300,3292,3308,0,0,0,0,0,0,26.90,26.08,26.90
$GC,2544,-0.85,-136.3,2553,3419,3292,3307,337.9,-10.4,153,2549,0.08,2.10,0.00,0.000,3078,0.174,0.029,2577,2012,3299,3292,3307,0,0,0,0,0,0,26.03,26.26,26.13
$GC,2790,-0.85,-136.3,2576,2008,3291,3305,363.3,-8.7,159,2791,0.00,0.00,0.00,0.000,2054,0.000,0.000,2577,2009,3298,3291,3305,0,0,0,0,0,0,26.87,26.88,26.88
$GC,3030,-0.85,-136.3,2576,2009,3290,3303,382.4,-7.7,165,3035,0.00,2.12,0.00,0.000,516,0.000,0.046,2586,623,3296,3290,3303,0,0,0,0,0,0,26.87,26.05,26.89
$GC,3082,-0.85,-136.3,2586,622,3290,3303,385.6,-7.6,166,3086,0.00,2.10,0.00,0.000,1030,0.000,0.032,2578,2021,3296,3290,3303,0,0,0,0,0,0,26.39,26.29,26.42
$GC,3350,-0.85,-136.3,2577,2022,3288,3300,407.9,-7.9,173,3354,0.00,2.17,0.00,0.000,260,0.000,0.047,2568,3422,3293,3287,3300,0,0,0,0,0,0,26.89,26.08,26.90
$GC,3466,-0.85,-136.3,2567,3422,3286,3299,414.8,-8.1,175,3474,0.00,2.12,0.00,0.000,3078,0.000,0.030,2568,2013,3292,3286,3299,0,0,0,0,0,0,26.39,26.27,26.42
$GC,3712,-0.85,-136.3,2567,2013,3285,3297,435.9,-7.3,182,3718,0.00,2.22,0.00,0.000,2308,0.000,0.048,2559,3414,3291,3285,3297,0,0,0,0,0,0,26.91,26.07,26.91
$GC,3765,-0.85,-136.3,2558,3414,3284,3297,438.9,-7.3,183,3770,0.05,2.10,0.00,0.000,3078,0.190,0.031,2572,2024,3290,3285,3296,0,0,0,0,0,0,26.15,26.27,26.22
$GC,4028,-0.85,-136.3,2572,2021,3282,3294,460.0,-7.5,190,4029,0.00,0.00,0.00,0.000,2054,0.000,0.000,2572,2021,3288,3282,3294,0,0,0,0,0,0,26.92,26.93,26.93
$GC,4267,-0.85,-136.3,2571,2021,3281,3293,478.4,-7.6,196,4268,0.00,0.00,0.00,0.000,2054,0.000,0.000,2572,2021,3287,3281,3293,0,0,0,0,0,0,26.98,26.98,26.98
$GC,4507,-0.85,-136.3,2571,2021,3280,3291,497.5,-8.0,202,4508,0.00,0.00,0.00,0.000,2054,0.000,0.000,2572,2021,3285,3280,3291,0,0,0,0,0,0,26.94,26.94,26.94
$STATE,4546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4546,begin apogee
$GC,4550,-0.18,0.0,2573,1878,3280,3291,500.6,-8.1,203,4668,0.68,0.00,114.15,0.884,10246,0.144,0.000,2783,1875,2740,2752,2729,0,0,0,0,0,0,25.68,24.80,24.07
$STATE,4669,end apogee,CONTROL_FINISHED_OK
$STATE,4669,begin climb
$GC,4670,0.85,136.3,2783,1875,2750,2729,502.3,0.0,206,4798,0.90,0.00,123.38,0.845,10758,0.073,0.000,3106,1875,2184,2223,2145,0,0,0,0,0,0,25.01,24.52,23.87
$GC,5026,0.85,136.3,3106,1874,2215,2138,444.4,18.8,215,5031,0.00,2.30,0.00,0.000,2308,0.000,0.047,3102,3296,2176,2214,2138,0,0,0,0,0,0,26.08,25.54,26.08
$GC,5051,0.85,136.3,3101,3296,2213,2138,444.4,18.8,215,5055,0.00,2.17,0.00,0.000,3078,0.000,0.037,3110,1919,2175,2213,2138,0,0,0,0,0,0,25.77,25.63,25.81
$GC,5308,0.85,136.3,3110,1919,2211,2137,391.1,18.9,222,5309,0.00,0.00,0.00,0.000,2054,0.000,0.000,3110,1919,2174,2211,2137,0,0,0,0,0,0,26.39,26.40,26.39
$GC,5547,0.85,136.3,3110,1919,2208,2136,345.6,18.8,228,5549,0.00,0.00,0.00,0.000,2054,0.000,0.000,3110,1919,2171,2208,2135,0,0,0,0,0,0,26.53,26.54,26.53
$GC,5787,0.85,136.3,3109,1919,2208,2135,303.7,17.3,234,5792,0.00,2.20,0.00,0.000,2308,0.000,0.047,3110,3297,2171,2208,2134,0,0,0,0,0,0,26.63,25.90,26.63
$GC,5824,0.85,136.3,3110,3297,2206,2134,297.0,17.5,235,5828,0.00,2.17,0.00,0.000,1030,0.000,0.037,3120,1897,2170,2206,2134,0,0,0,0,0,0,26.10,25.98,26.16
$GC,6099,0.85,136.3,3120,1897,2204,2134,247.9,17.8,242,6103,0.00,2.20,0.00,0.000,260,0.000,0.045,3115,3298,2169,2204,2135,0,0,0,0,0,0,26.69,25.96,26.70
$GC,6176,0.85,136.3,3114,3299,2203,2134,233.6,18.5,244,6180,0.00,2.17,0.00,0.000,5126,0.000,0.036,3124,1897,2168,2203,2134,0,0,0,0,0,0,26.18,26.03,26.23
$GC,6421,0.85,136.3,3123,1895,2203,2134,194.4,15.1,251,6425,0.00,2.20,0.00,0.000,4612,0.000,0.051,3135,496,2168,2203,2134,0,0,0,0,0,0,26.75,25.91,26.76
$GC,6495,0.85,136.3,3134,496,2202,2134,182.6,16.6,257,6504,0.00,2.17,0.00,0.000,5126,0.000,0.032,3133,1883,2167,2202,2133,0,0,0,0,0,0,26.25,26.19,26.27
$GC,6743,0.85,136.3,3132,1888,2202,2134,145.9,15.0,282,6755,0.00,2.25,0.00,0.000,4356,0.000,0.045,3128,3324,2167,2201,2134,0,0,0,0,0,0,26.79,26.00,26.80
$GC,6802,0.85,136.3,3127,3324,2201,2134,136.4,17.2,287,6811,0.00,2.17,0.00,0.000,5126,0.000,0.034,3135,1899,2167,2201,2134,0,0,0,0,0,0,26.16,26.10,26.20
$GC,7052,0.85,136.3,3136,1898,2201,2134,99.2,12.7,312,7064,0.05,2.17,0.00,0.000,4612,0.203,0.049,3132,498,2167,2201,2134,0,0,0,0,0,0,26.48,25.96,26.48
$GC,7111,0.85,136.3,3131,499,2201,2134,91.8,12.8,317,7120,0.00,2.12,0.00,0.000,5126,0.000,0.031,3132,1913,2167,2200,2134,0,0,0,0,0,0,26.27,26.22,26.29
$GC,7362,0.85,136.3,3131,1916,2201,2134,60.2,11.8,342,7374,0.00,2.15,0.00,0.000,4356,0.000,0.045,3131,3306,2167,2200,2134,0,0,0,0,0,0,26.85,26.03,26.85
$GC,7429,0.85,136.3,3130,3306,2201,2134,51.9,12.7,347,7441,0.05,2.17,0.00,0.000,5126,0.166,0.034,3125,1897,2167,2200,2134,0,0,0,0,0,0,25.75,25.77,25.86
$GC,7698,0.89,168.4,3125,1893,2201,2134,24.8,8.5,376,7736,0.00,2.25,25.38,0.534,10500,0.000,0.046,3125,3308,2051,2089,2013,0,0,0,0,0,0,26.86,26.02,25.39
$GC,7883,0.89,168.4,3125,3308,2087,2013,4.5,13.0,401,7893,0.00,2.20,0.00,0.000,1030,0.000,0.031,3134,1897,2050,2088,2013,0,0,0,0,0,0,26.09,26.04,26.10
$STATE,7901,end climb,SURFACE_DEPTH_REACHED
$STATE,7901,begin surface coast
$FINISH,-1.5,1.022677
$STATE,7932,end surface coast,CONTROL_FINISHED_OK
$STATE,7932,begin surface
$SM_CCo,7946,93.03,0.497,0,0,1190,380.21
$SM_GC,-2.91,8.00,0.17,93.03,0.063,0.057,0.497,196,2049,1190,-8.25,-1.22,380.21,0,0,0,0,0,0,25.96,26.34,24.84
$IRIDIUM_FIX,1911.51,-15444.77,140718,220503
$TT8_MAMPS,0.023219,0.330309
$HUMID,45.19
$INTERNAL_PRESSURE,9.64584
$TCM_TEMP,24.10
$XPDR_PINGS,47
$24V_AH,23.87,17.767
$10V_AH,10.15,10.158
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.375,74.075,262.900,93.025,0.000,53.675,57.190,161.737,32.500,0.000,19.305,1253.182,4755.824,476.353,1930.802,72.018,0.000,1108.332,0.000,1135.241,0.000,130.579,0.000
$DEVICE_MAMPS,255.510,62.730,883.575,497.250,0.000,66.560,160.000,223.000,420.000,0.000,16.480,11.500,2.190,11.500,38.470,49.700,0.000,15.460,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,278.680,228.956,422.237,416.973,862.482,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,6.740,50.930,47.940,37.450,0.000,0.000,0.000,0.000,0.000
$MEM,343320
$DATA_FILE_SIZE,37270,407
$CAP_FILE_SIZE,93303,0
$CFSIZE,260165632,258609152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.094,147.77,1
$GPS,150718,024555,1918.346,-15440.439,14,0.8,43,9.6,0.9,69.7,10,5.5